def __init__(self):
self.brain = Brain()
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.brain = Brain()
self.left_motor = \
Motor(
self.LEFT_MOTOR_PORT, # index
self.LEFT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.right_motor = \
Motor(
self.RIGHT_MOTOR_PORT, # index
self.RIGHT_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.drivetrain = \
Drivetrain(
self.left_motor, # left_motor
self.right_motor, # right_motor
self.WHEEL_TRAVEL, # wheel_travel
self.TRACK_WIDTH, # track_width
self.DISTANCE_UNIT, # distanceUnit
self.GEAR_RATIO # gear_ratio
)
self.arm_motor = \
Motor(
self.ARM_MOTOR_PORT, # index
self.ARM_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor.set_timeout(
self.CLAW_MOTOR_TIMEOUT_SECS, # time
TimeUnits.SEC # timeUnit
)
self.touch_led = Touchled(self.TOUCH_LED_PORT)
self.color_sensor = \
Colorsensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.gyro_sensor = \
Gyro(
self.GYRO_SENSOR_PORT, # index
True # calibrate
)
self.distance_sensor = Sonar(self.DISTANCE_SENSOR_PORT)
self.bumper_switch = Bumper(self.BUMPER_SWITCH_PORT)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.brain = Brain()
self.base_pivot_motor = \
Motor(
self.BASE_PIVOT_MOTOR_PORT, # index
self.BASE_PIVOT_REVERSE_POLARITY # reverse polarity?
)
self.shoulder_motor = \
Motor(
self.SHOULDER_MOTOR_PORT, # index
self.SHOULDER_REVERSE_POLARITY # reverse polarity?
)
self.elbow_motor = \
Motor(
self.ELBOW_MOTOR_PORT, # index
self.ELBOW_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor = \
Motor(
self.CLAW_MOTOR_PORT, # index
self.CLAW_MOTOR_REVERSE_POLARITY # reverse polarity?
)
self.claw_motor.set_timeout(
self.CLAW_MOTOR_TIMEOUT_SECS, # time
TimeUnits.SEC # timeUnit
)
self.base_bumper_switch = Bumper(self.BASE_BUMPER_SWITCH_PORT)
self.elbow_bumper_switch = Bumper(self.ELBOW_BUMPER_SWITCH_PORT)
self.distance_sensor = Sonar(self.DISTANCE_SENSOR_PORT)
self.color_sensor = \
Colorsensor(
self.COLOR_SENSOR_PORT, # index
False, # is_grayscale
700 # proximity
)
self.left_touch_led = Touchled(self.LEFT_TOUCH_LED_PORT)
self.right_touch_led = Touchled(self.RIGHT_TOUCH_LED_PORT)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
def __init__(self):
self.front_left_motor = \
Motor(
self.FRONT_LEFT_MOTOR_PORT, # index
self.FRONT_LEFT_MOTOR_REVERSE_POLARITY # reverse
)
self.front_right_motor = \
Motor(
self.FRONT_RIGHT_MOTOR_PORT, # index
self.FRONT_RIGHT_MOTOR_REVERSE_POLARITY # reverse
)
self.rear_left_motor = \
Motor(
self.REAR_LEFT_MOTOR_PORT, # index
self.REAR_LEFT_MOTOR_REVERSE_POLARITY # reverse
)
self.rear_right_motor = \
Motor(
self.REAR_RIGHT_MOTOR_PORT, # index
self.REAR_RIGHT_MOTOR_REVERSE_POLARITY # reverse
)
self.controller = Controller()
self.controller.set_deadband(self.CONTROLLER_DEADBAND)
TOUCH_LED = Touchled(Ports.PORT2)
COLOR_SENSOR = Colorsensor(Ports.PORT3, # index
False, # is_grayscale
700 # proximity
)
GYRO_SENSOR = Gyro(Ports.PORT4, # index
True # calibrate
)
DISTANCE_SENSOR = Sonar(Ports.PORT7)
BUMPER_SWITCH = Bumper(Ports.PORT8)
# Controller configs
CONTROLLER = Controller()
CONTROLLER.set_deadband(3)
def drive_by_controller():
LEFT_MOTOR.spin(
DirectionType.FWD, # dir
CONTROLLER.axisA.position(), # velocity
VelocityUnits.PCT # velocityUnit
)
RIGHT_MOTOR.spin(
DirectionType.FWD, # dir
CONTROLLER.axisD.position(), # velocity
VelocityUnits.PCT # velocityUnit
)
On Robot Mesh Studio: https://www.robotmesh.com/studio/60112e84bf4a15058c6bbeb0
"""
# NHẬP CÁC ĐỐI TƯỢNG TỪ THƯ VIỆN
# ==============================
from vex import (Brain, Controller)
# KHỞI TẠO CÁC BỘ PHẬN ROBOT
# ==========================
# khởi tạo brain
brain = Brain()
# khởi tạo bộ điều khiển từ xa
ctl = Controller()
# CHƯƠNG TRÌNH CHÍNH
# ==================
while True:
# in ra màn hình phím Controller nào đang được bấm, hoặc
# in ra giá trị số đo các trục Joystick A, B, C, D
if ctl.buttonEUp.pressing():
brain.screen.print_line(1, 'E Up')
elif ctl.buttonEDown.pressing():
brain.screen.print_line(1, 'E Down')
elif ctl.buttonFUp.pressing():
brain.screen.print_line(1, 'F Up')